CN110738172B - Underwater organism trapping and killing method and system - Google Patents
Underwater organism trapping and killing method and system Download PDFInfo
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- CN110738172B CN110738172B CN201910976993.9A CN201910976993A CN110738172B CN 110738172 B CN110738172 B CN 110738172B CN 201910976993 A CN201910976993 A CN 201910976993A CN 110738172 B CN110738172 B CN 110738172B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000002347 injection Methods 0.000 claims abstract description 29
- 239000007924 injection Substances 0.000 claims abstract description 29
- 239000007788 liquid Substances 0.000 claims description 21
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 17
- 239000003814 drug Substances 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 12
- 238000005516 engineering process Methods 0.000 claims description 10
- 238000007726 management method Methods 0.000 claims description 9
- 230000002265 prevention Effects 0.000 claims description 7
- 230000001502 supplementing effect Effects 0.000 claims description 6
- 230000001276 controlling effect Effects 0.000 claims description 5
- 238000003384 imaging method Methods 0.000 claims description 5
- 238000004064 recycling Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 230000004075 alteration Effects 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 claims description 3
- 230000006870 function Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000013135 deep learning Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 3
- 238000013136 deep learning model Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/21—Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
- G06F18/214—Generating training patterns; Bootstrap methods, e.g. bagging or boosting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- Catching Or Destruction (AREA)
Abstract
The invention discloses an underwater organism trapping and killing method and an underwater organism trapping and killing system, and belongs to the technical field of underwater. Firstly, shooting image data of an underwater environment by a first shooting unit, and transmitting the shot image data of the underwater environment to an embedded processor; then, a target organism identification unit in the embedded processor identifies the target organism in the image, and obtains the target organism to be killed after the injected target organism is removed; the propeller unit carries the underwater robot to move towards the target organisms to be killed; calculating the distance between the target organism to be killed and the medium injection unit; when the target organism to be killed is in the killing range of the medium injection unit, the embedded processor starts the medium injection unit to inject the killing medium into the target organism to be killed. The method can automatically complete the identification, positioning and killing of the target underwater organisms, greatly improve the treatment efficiency of the target underwater organisms, reduce the treatment cost and the treatment risk and effectively protect the ecological environment.
Description
Technical field:
the invention belongs to the technical field of underwater equipment, and particularly relates to an underwater biological trapping and killing system.
The background technology is as follows:
underwater biological trapping is an important activity in underwater operations, typically by a diver directly performing the underwater operation, or by an operator controlling the operation of a cabled underwater robot via a shore-based control device. The severe underwater environment is caused by the fact that the diver directly descends water, so that casualties are easily caused. In the second mode, the collected video data is transmitted to the shore-based control equipment through the cable, an operator controls the shore-based control to process the collected video data and issue a command, the operation is limited by the influence of the video transmission speed and the cable length, the moving range of the underwater robot is limited, and the large-range capturing and killing is difficult to achieve. In addition, the underwater trapping and killing method comprises the steps of firstly searching organisms to be trapped and killed under water, then introducing trapping and killing medium into the organisms, and finally determining whether the organisms die, wherein in the prior art, only methods or systems for underwater organism identification are available, and particularly, how to trap and judge the death is reported. For example, patent CN2018100539570 discloses a target mark-free aquatic organism identification tracking method, which comprises the steps of placing two cameras on the top and one side of an aquatic organism cultivation system, respectively carrying out video acquisition on aquatic organisms, transmitting the acquired video to a controller, and processing the acquired video image by the controller to finally obtain a three-dimensional trace of the aquatic organisms.
The invention comprises the following steps:
the invention aims to overcome the defects of the prior art, and seeks to design an underwater organism trapping and killing method and system, which are used for identifying target organisms in images based on a biological identification technology, then controlling an underwater organism trapping and killing system to track the target organisms based on a target tracking technology, and finally injecting trapping and killing media into the target organisms within the trapping and killing range of a medium injection unit.
In order to achieve the above object, the invention relates to a method for trapping and killing underwater organisms, which specifically comprises the following steps:
(1) The first camera unit shoots image data of the underwater environment and transmits the shot image data of the underwater environment to the embedded processor;
(2) The target organism identification unit in the embedded processor is used for identifying target organisms in the image based on an organism identification technology and a deep learning method, and obtaining target organisms to be killed after the injected target organisms are eliminated;
inputting the characteristic data of the target organism to be killed and the characteristic data of the death state of the target organism into a deep learning model, extracting the characteristic data from the acquired image data by a target organism identification unit, and comparing the extracted characteristic data with the stored characteristic data to further obtain the target organism to be killed, wherein the dead target organism is eliminated;
(3) Based on a target tracking technology, under the control of an embedded processor, the propeller unit carries the underwater robot to move towards the target organisms to be killed, so that the target organisms to be killed are ensured to be always in a picture shot by the second shooting unit, and a clear image can be obtained;
(4) A target biological positioning unit in the embedded processor calculates the distance between the target organism to be killed and the medium injection unit based on the video image acquired by the second camera unit;
(5) When the target organism to be killed is in the killing range of the medium injection unit, the embedded processor starts the medium injection unit to inject the killing medium into the target organism to be killed.
The invention relates to an underwater biological trapping and killing system, which comprises a propeller unit, a first shooting unit, a second shooting unit, an embedded processor and a medium injection unit, wherein the propeller unit is connected with the first shooting unit; the first camera unit is used for acquiring video data of an underwater environment where the organisms need to be killed and providing a data base for target identification; the second camera unit is used for acquiring the position of the target organism to be killed relative to the medium injection unit, tracking the target organism under the cooperation of the propeller unit, and acquiring an image of the target organism in real time; the embedded processor comprises a target biological identification unit and a target positioning unit; the target identification unit screens target organisms with characteristic data from the acquired video images based on a biological identification technology, eliminates dead trapping organisms and determines target organisms to be trapped and killed; the target positioning unit obtains depth data by combining target image identification and matching through image aberration of two cameras or two different focal lengths of a single camera and based on a binocular stereo imaging principle, and obtains the position of a target organism to be killed in real time for positioning the target organism to be killed; the medium injection unit is used for injecting a trapping medium into the target organism; the propeller unit is used for realizing the movement of the underwater biological trapping and killing system at the water bottom, including up-and-down movement, horizontal steering, forward movement and the like; the propeller unit, the first camera unit, the second camera unit and the medium injection unit are all connected with the embedded processor.
The medium injection unit comprises an injector, a driving device and a liquid medicine cylinder, wherein the driving device is connected with the embedded processor, the front end of the injection cylinder is fixedly provided with a needle head, the driving device is connected with a piston of the injector and drives the piston to reciprocate, the liquid medicine cylinder is connected to one end of the injection cylinder, which is close to the needle head, through a liquid supplementing pipe, the liquid supplementing pipe is provided with a one-way valve, the piston moves backwards, the one-way valve is opened, liquid medicine enters the injection cylinder from the liquid medicine cylinder, the piston moves forwards, the one-way valve is closed, and the liquid medicine is injected into a target organism from the needle head.
The underwater biological trapping and killing system further comprises a power supply unit and an energy management unit; the power supply unit and the energy management unit are connected with the embedded processor; the power supply unit provides electric energy for the underwater part of the whole aquatic organism killing system; the energy management unit is used for distributing electric energy, controlling the electric consumption of different units and mechanisms and planning the electric consumption of the whole underwater biological killing system.
The underwater biological trapping and killing system further comprises a depth sensor, an emergency load rejection unit, a shore-based control unit, a wireless communication unit, a GPS Beidou positioning unit, a collision prevention unit and an electronic compass; the depth sensor, the emergency load rejection unit, the wireless communication unit, the GPS Beidou positioning unit, the collision prevention unit and the electronic compass are carried on the underwater biological killing system through the expansion port and are connected with the embedded processor; the depth sensor is used for detecting the depth of the underwater biological trapping and killing system under water in real time, and when the depth exceeds a set threshold value, the propeller unit is controlled to perform corresponding actions, so that the situation that the underwater biological trapping and killing system is erroneously inserted into an area exceeding the limit pressure-resistant depth of the system is avoided; the emergency load throwing unit is used for throwing off ballast under emergency conditions, so that the underwater biological killing system automatically floats upwards; the shore-based control unit is specifically intelligent terminal equipment with a processing function, and can receive, process and display video data shot by the underwater biological trapping and killing system in real time, so as to realize control of the underwater biological trapping and killing system on the shore; the wireless communication unit is used for realizing the connection between the embedded processor and the shore-based control unit; the collision prevention unit is used for identifying obstacles in the surrounding environment and preventing the underwater organism trapping and killing system from colliding with the obstacles, and is particularly one of an echo detector and an obstacle avoidance sonar; the electronic compass is used for measuring the heading of the underwater biological trapping and killing system under water in real time, so that the track is ensured to be within a preset range; the indicating lamp is used for indicating the position of the underwater biological trapping and killing system on the water surface so as to facilitate the searching and recycling of staff; the GPS Beidou positioning unit is used for determining the geographic position of the underwater biological trapping and killing system on the water surface, and the geographic position can be sent to the shore-based control unit by the wireless communication unit so as to facilitate searching and recycling of workers.
Compared with the prior art, the invention has the following beneficial effects: the method can automatically complete the identification, positioning and killing of the target underwater organisms, greatly improve the treatment efficiency of the target underwater organisms, reduce the treatment cost and the treatment risk, effectively protect the ecological environment and collect basic data for the condition evaluation of the ecological environment.
Description of the drawings:
FIG. 1 is a schematic diagram of the principle of the underwater biological catching and killing system of the present invention.
The specific embodiment is as follows:
the invention will now be further illustrated by means of specific examples in connection with the accompanying drawings.
Examples:
the underwater organism trapping and killing method related to the embodiment specifically comprises the following steps:
(1) The first image pickup unit 3 picks up image data of the underwater environment and transfers the picked-up image data of the underwater environment to the embedded processor 1;
(2) The target organism identification unit in the embedded processor 1 is used for identifying the target organism in the image based on the organism identification technology and the deep learning method, and obtaining the target organism to be killed after the injected target organism is eliminated;
specifically, firstly, preprocessing an acquired video frame, including brightness, contrast, sharpness, white balance and the like, to obtain a clear image, then, importing preprocessed image data into a trained deep learning module (such as a VGG16 convolutional neural network), recognizing by the deep learning module, outputting a characteristic data set of a target organism in the image, comparing the characteristic data set with characteristic data stored in the deep learning module, and determining the target organism to be killed according to a comparison result;
more specifically, feature data of a target living being to be killed and feature data of a death state (shape change, such as breakage, limb distortion, etc., color change, such as color disappearance or change, behavior change, such as immobility, rollover, etc.) of the target living being are input into the deep learning model, the target living being identification unit extracts feature data from the acquired image data, compares the extracted feature data with the stored feature data, and thereby obtains a target living being to be killed from which the dead target living being has been excluded;
(3) Based on the target tracking technology, under the control of the embedded processor 1, the propeller unit 2 carries the underwater robot to move towards the target organisms to be killed (or one of the target organisms to be killed), so that the target organisms to be killed are always in the picture shot by the second camera unit 4, and clear images can be obtained;
(4) The target biological positioning unit in the embedded processor 1 calculates the distance between the target organisms to be killed and the medium injection unit 5 based on the video image acquired by the second camera unit 4;
the method comprises the following steps: calculating the distance between the target organism to be killed and the second camera unit through the relative position difference of the target organism to be killed in two frames of images of the second camera unit (the installation position is known) at the same time, and combining the positions of the target organism to be killed in the images, so that the positions of the target organism to be killed relative to the medium injection unit 5 can be obtained;
(5) When the target living being to be killed is within the killing range of the medium injection unit 5, the embedded processor 1 starts the medium injection unit 5 to inject the killing medium into the target living being to be killed.
As shown in fig. 1, the underwater biological trapping and killing system according to the present embodiment includes a propeller unit 2, a first image capturing unit 3, a second image capturing unit 4, an embedded processor 1, and a medium injection unit 5; the first camera unit 3 is used for acquiring video data of an underwater environment where the organisms need to be killed and providing a data base for target identification; the second camera unit 4 is used for acquiring the position of the target organism to be killed relative to the medium injection unit 5, tracking the target organism under the cooperation of the propeller unit 2, and acquiring an image of the target organism in real time; the embedded processor 1 comprises a target biological identification unit and a target positioning unit; the target identification unit screens target organisms with characteristic data from the acquired video images based on a biological identification technology, eliminates dead trapping organisms and determines target organisms to be trapped and killed; the target positioning unit obtains depth data by combining target image recognition and matching through image aberration of two cameras or two different focal lengths of a single camera and based on a binocular stereo imaging principle, and obtains the position of a target organism to be killed (one of the target organisms to be killed) in real time for positioning the target organism to be killed; the medium injection unit 5 is used for injecting a killing medium into the target organism; the propeller unit 2 is used for realizing the movement of the underwater biological trapping and killing system at the water bottom, including up-and-down movement, horizontal steering, forward movement and the like; the propeller unit 2, the first imaging unit 3, the second imaging unit 4 and the medium injection unit 5 are all connected with the embedded processor 1.
As an implementation mode, the medium injection unit 5 comprises a syringe, a driving device and a liquid medicine cylinder, the driving device is connected with the embedded processor 1, the front end of the syringe is fixedly provided with a needle, the driving device is connected with a syringe piston and drives the piston to reciprocate, the liquid medicine cylinder is connected to one end of the syringe, which is close to the needle, through a liquid supplementing pipe, a one-way valve is arranged on the liquid supplementing pipe, the piston moves backwards, the one-way valve is opened, liquid medicine enters the syringe from the liquid medicine cylinder, the piston moves forwards, the one-way valve is closed, and the liquid medicine is injected into a target organism from the needle.
Further, the underwater biological trapping and killing system further comprises a power supply unit 6 and an energy management unit; the power supply unit 6 and the energy management unit are connected with the embedded processor 1; wherein the power supply unit 6 provides electric energy for the underwater part of the whole aquatic organism killing system; the energy management unit is used for distributing electric energy, controlling the electric consumption of different units and mechanisms and planning the electric consumption of the whole underwater biological killing system.
The underwater biological trapping and killing system further comprises a depth sensor 8, an emergency load rejection unit 9, a shore-based control unit 14, a wireless communication unit 11, a GPS Beidou positioning unit 10, a collision prevention unit 12 and an electronic compass 13; the depth sensor 8, the emergency load rejection unit 9, the wireless communication unit 11, the GPS Beidou positioning unit 10, the collision avoidance unit 12 and the electronic compass 13 are mounted on the underwater biological killing system through an expansion port and are connected with the embedded processor 1; the depth sensor 8 is used for detecting the depth of the underwater biological trapping and killing system under water in real time, and when the depth exceeds a set threshold value, the propeller unit 2 is controlled to perform corresponding actions, so that the situation that the underwater biological trapping and killing system is erroneously entered into an area exceeding the limit pressure-resistant depth of the system is ensured; the emergency throwing load unit 9 is used for throwing off ballast in emergency, so that the underwater biological killing system automatically floats up. Specifically, the emergency load rejection unit 9 consists of an acoustic releaser and a ballast iron, wherein a lock pin of the acoustic releaser is connected with the ballast iron through a suspension buckle, and the lock pin is opened to be separated from the ballast iron after the releaser receives a preset acoustic signal, so that upward floating operation is realized; the shore-based control unit 14 is specifically an intelligent terminal device with a processing function, such as a computer or a mobile phone, and can receive, process and display video data shot by the underwater biological killing system in real time, so as to realize control of the underwater biological killing system on the shore; the wireless communication unit 11 is used for realizing connection between the embedded processor 1 and the shore-based control unit 14; the collision prevention unit 12 is used for identifying obstacles in the surrounding environment and preventing the underwater organism trapping and killing system from colliding with the obstacles, and is specifically one of a echo detector and an obstacle avoidance sonar; the electronic compass 13 is used for measuring the heading of the underwater biological trapping and killing system under water in real time, so as to ensure that the track is within a preset range; the indicating lamp is used for indicating the position of the underwater biological trapping and killing system on the water surface so as to facilitate the searching and recycling of staff; the GPS Beidou positioning unit 10 is used for determining the geographical position of the underwater biological killing system on the water surface, and the geographical position can be sent to the shore-based control unit 14 by the wireless communication unit 11 so as to be convenient for workers to search and recover.
Claims (2)
1. An underwater biological trapping and killing system is characterized by comprising a propeller unit, a first shooting unit, a second shooting unit, an embedded processor and a medium injection unit; the first camera unit is used for acquiring video data of an underwater environment where the organisms need to be killed and providing a data base for target identification; the second camera unit is used for acquiring the position of the target organism to be killed relative to the medium injection unit, tracking the target organism under the cooperation of the propeller unit, and acquiring an image of the target organism in real time; the embedded processor comprises a target biological identification unit and a target positioning unit; the target identification unit screens target organisms with characteristic data from the acquired video images based on a biological identification technology, eliminates dead trapping organisms and determines target organisms to be trapped and killed; the target positioning unit obtains depth data by combining target image identification and matching through image aberration of two cameras or two different focal lengths of a single camera and based on a binocular stereo imaging principle, and obtains the position of a target organism to be killed in real time for positioning the target organism to be killed; the medium injection unit is used for injecting a trapping medium into the target organism; the propeller unit is used for realizing the movement of the underwater biological trapping and killing system at the water bottom, including up-and-down movement, horizontal steering, forward movement and the like; the propeller unit, the first camera unit, the second camera unit and the medium injection unit are all connected with the embedded processor;
the medium injection unit comprises an injector, a driving device and a liquid medicine cylinder, the driving device is connected with the embedded processor, the front end of the injector is fixedly provided with a needle head, the driving device is connected with a piston of the injector and drives the piston to reciprocate, the liquid medicine cylinder is connected to one end of the injector, which is close to the needle head, through a liquid supplementing pipe, the liquid supplementing pipe is provided with a one-way valve, the piston moves backwards, the one-way valve is opened, liquid medicine enters the injector from the liquid medicine cylinder, the piston moves forwards, the one-way valve is closed, and the liquid medicine is injected into a target organism from the needle head;
the underwater biological trapping and killing system further comprises a power supply unit and an energy management unit; the power supply unit and the energy management unit are connected with the embedded processor; the power supply unit provides electric energy for the underwater part of the whole aquatic organism killing system; the energy management unit is used for distributing electric energy, controlling the electric consumption of different units and mechanisms and planning the electric consumption of the whole underwater biological killing system.
2. The underwater biological capture and kill system of claim 1, further comprising a depth sensor, an emergency load rejection unit, a shore-based control unit, a wireless communication unit, a GPS beidou positioning unit, a collision avoidance unit, and an electronic compass; the depth sensor, the emergency load rejection unit, the wireless communication unit, the GPS Beidou positioning unit, the collision prevention unit and the electronic compass are carried on the underwater biological killing system through the expansion port and are connected with the embedded processor; the depth sensor is used for detecting the depth of the underwater biological trapping and killing system under water in real time, and when the depth exceeds a set threshold value, the propeller unit is controlled to perform corresponding actions, so that the situation that the underwater biological trapping and killing system is erroneously inserted into an area exceeding the limit pressure-resistant depth of the system is avoided; the emergency load throwing unit is used for throwing off ballast under emergency conditions, so that the underwater biological killing system automatically floats upwards; the shore-based control unit is specifically intelligent terminal equipment with a processing function, and can receive, process and display video data shot by the underwater biological trapping and killing system in real time, so as to realize control of the underwater biological trapping and killing system on the shore; the wireless communication unit is used for realizing the connection between the embedded processor and the shore-based control unit; the collision prevention unit is used for identifying obstacles in the surrounding environment and preventing the underwater organism trapping and killing system from colliding with the obstacles, and is particularly one of an echo detector and an obstacle avoidance sonar; the electronic compass is used for measuring the heading of the underwater biological trapping and killing system under water in real time, so that the track is ensured to be within a preset range; the indicating lamp is used for indicating the position of the underwater biological trapping and killing system on the water surface so as to facilitate the searching and recycling of staff; the GPS Beidou positioning unit is used for determining the geographic position of the underwater biological trapping and killing system on the water surface, and the geographic position can be sent to the shore-based control unit by the wireless communication unit so as to facilitate searching and recycling of workers.
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| CN212260267U (en) * | 2019-05-05 | 2021-01-01 | 乔·S·马科斯 | Shock catching and killing animal trap |
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